IJRR study demonstrates broad dynamic locomotion skills on Cassie

Key points

• The IJRR study presents a reinforcement-learning controller for standing, walking, running, jumping, and other dynamic bipedal skills.
• The resulting policies deploy on Cassie in extensive real-world experiments, including a 400-meter dash and multiple jumping skills.
• The paper is a major Cassie research milestone because it treats dynamic locomotion as a broad skill family rather than a single gait.